CN110196125A - A kind of island bridge type flexible sensing array apparatus based on porous structure - Google Patents
A kind of island bridge type flexible sensing array apparatus based on porous structure Download PDFInfo
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- CN110196125A CN110196125A CN201910316546.0A CN201910316546A CN110196125A CN 110196125 A CN110196125 A CN 110196125A CN 201910316546 A CN201910316546 A CN 201910316546A CN 110196125 A CN110196125 A CN 110196125A
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- flexible sensing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/205—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using distributed sensing elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
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- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a kind of island bridge type flexible sensing array apparatus based on porous structure.Include flexible sensing layer and flexible substrates；Flexible substrates include outline border shell and hollow out buckling structure, hollow out buckling structure includes island and buckling arm, multiple island spaced arrays are uniformly arranged in inside outline border shell, are connected between the inward flange of between each adjacent two island and island outline border shell adjacent thereto by buckling arm, and island center is equipped with mounting hole；In flexible sensing layer, flexible sensing unit interference fit enters in the mounting hole of flexible substrates；Two output ends are drawn after the concatenation of all flexible sensing units both ends as electrical signal transmission channel.The present invention has the advantages that island bridge structural deformation amount is big, Yi Shiying mounting surface geometrical property, has biggish variable momentum, is mountable to irregular three-dimensional shape surface；Also with porous flexible structure safety, buffering, the advantage of energy-absorbing, also there is the characteristics of replaceable, personalization installation.
Description
Technical field
The present invention relates to a kind of sensing devices, sense more particularly to a kind of island bridge type flexible based on porous structure
Array apparatus.
Background technique
Currently, with the development of modern science and technology and the raising of automatization level, the robot in many occupations or post
Or replace the mankind at leisure.So, the mankind will inevitably touch robot in life or work.
During people and robot interact, safety is the primary item of consideration during people and robot interactive
Part.In security consideration, collide as a very important critical issue.The robot one of human lives can really be incorporated
It is fixed that there is the expected movement of completion under polynary complex environment, carry out the ability that people interacts with robot security.This complexity ring
Under border, robot can face various types of collisions.The sensitive electron skin of robot is to solve the problems, such as one of this method,
It is usually made of thousands of a sensors, needs to be mounted on the key position of robot.
Currently, the flexible sensing array apparatus being widely used relies on the property of material to realize flexibility deformation, less more
Reliable geometry realizes the flexible sensing array of flexibility deformation.The installation of existing flexible sensing array apparatus often by
The physical property of porous substrate material itself is limited, and tensile deformation amount and torsional distortion are all determined by material properties.
Summary of the invention
It is often limited by the physical property of base material itself to solve existing flexible sensing array apparatus installation,
The problem of tensile deformation amount and torsional distortion are all determined by material properties.The invention proposes a kind of islands based on porous structure
Bridge type flexible sensing array apparatus can be applied to the anticollision electronic skin in human-computer interaction.
The present invention solves the above problems used technical solution are as follows:
The dismountable flexible sensing layer and the flexibility with hollow out buckling shape that the present invention includes equidistant array arrangement
Substrate closely assembles the flexible sensing array of composition；Flexible sensing layer and flexible substrates should be flexible cellular material.Flexible base
Bottom includes outline border shell and the hollow out buckling structure that is arranged in inside outline border shell, and hollow out buckling structure includes island and buckling arm, multiple
Island spaced array is uniformly arranged in inside outline border shell, the inward flange of between each adjacent two island and island outline border shell adjacent thereto
Between connected by buckling arm, buckling arm be S-shaped, the center on island offers the mounting hole for assembling flexible sension unit；It is soft
Property sensing layer is mainly made of the flexible sensing unit interval array arrangement of porous structure, flexible sensing cell configuration size
Slightly larger than the geomery of mounting hole, so that flexible sensing unit is fitted into the installation of flexible substrates by way of interference fit
Kong Zhong；The both ends of all flexible sensing units are drawn two output ends and transmitted as electrical signal after being concatenated respectively by electric wire to be led to
Road is connected with external analysis circuit: specifically, flexible sensing list on each adjacent two island for either end
Member is connected between same side end by electric wire, and all flexible sensing unit same sides adjacent with the inward flange of outline border shell
Portion is connected to same output end by electric wire extraction.
The flexible sensing unit be by by include but is not limited to forming melamine sponge be soaked into including
But it is not limited to further take out in the solution of the materials containing sensitive conductive such as carbon nanotube, or by materials containing sensitive conductive such as carbon nanotubes
Solution drips on melamine sponge；Then it dries, then is cleaned with hexane solution, then dry again and acquisition is made.System
The standby flexible sensing unit obtained has porous structure, and inside forms microcosmic Filamentous conductive path.
The outline border shell of the flexible substrates is square but is not limited only to rectangular.
The flexible substrates use porous material, including but not limited to melamine sponge.
Carrier of the flexible substrates as flexible sensing layer, bottom surface fits to mounting surface, by island bridge-type of the present invention
Flexible sensing array apparatus is mounted on target surface.
The flexibility sensing layer is to include but are not limited to 8 × 8 arrangement array composed by flexible more sensing units.
The mounting hole of the flexible substrates is in cylinder bore but is not limited only to cylinder bore.
The shape of the flexible sensing unit is in cylindrical body but is not limited only to cylindrical body, the mounting hole with flexible substrates
Shape match.
For the more sensing units of flexibility when being acted on by ambient pressure, internal deformation occurs, more so as to cause flexibility
Microcosmic Filamentous conductive path number inside sensing unit changes, and then resistance value changes, and then soft by monitoring
The size of the more sensing unit electrical parameter resistance values of property can be used for detecting external force size.
Island bridge-type of the invention is the island bridge structure being embodied in by being processed as having hollow out buckling shape by flexible substrates
The form of array.From mechanical configuration aspects, under identical external force, island bridge structure has than common plane structural deformation amount
Greatly, the advantages of sensing function, Yi Shiying mounting surface geometrical property are still able to maintain in the case where big deformation quantity, is mountable to
Irregular three-dimensional shape surface.When being installed to irregular solid geometry surface, hollow out buckling structure can produce stretching, pressure
The deformation such as contracting, torsion, to adapt to external environment.Meanwhile substrate is less to the constraint of flexible sensing unit, flexible sensing unit
Position relative to flexible substrates is also more flexible.
And in the present invention, in the case where identical external force, island bridge structure have it is bigger than common plane structural deformation amount,
The advantages of sensing function, Yi Shiying mounting surface geometrical property are still able to maintain in the case where big deformation quantity, is mountable to not
The three-dimensional shape surface of rule.And under the premise of meeting strength condition, island bridge structure makes flexible sensing array apparatus matter
It measures lighter.
The present invention is compared with traditional integral planar array, and flexible more sensing units are relative to flexible base in integral planar array
The position at bottom is relatively fixed, and when being installed to irregular three-dimensional shape surface, it is excessively solid to be easy to produce flexible more sensing unit distributions
Surely the problem of changing.And the constraint that contains only four direction of the island bridge structural substrates in the present invention to flexible more sensing units, so
Its flexible more sensing unit is also more flexible relative to the position of flexible substrates, can be installed in flexible substrates irregular vertical
After shape, large range of position adjustment is carried out according to sensing demand to the position of each more sensing units of flexibility, to reach
The purpose being distributed to personalized location.
Meanwhile in this sensor array, each flexible detachable sensing unit and flexible substrates are separated from each other, removable
It unloads, therefore the more sensing units of flexibility on this flexible sensing array are replaceable, can be replaced not according to different application scenarios
With the flexible sensing unit of performance, such as different Young'ss modulus of elasticity, sensitivity, answering for this kind of flexible sensing device is effectively extended
With range, the replacement cost of flexible substrates is reduced.
The present invention it has the advantage that:
The unique hollow out buckling shape island bridge structure of this flexible sensing array is easier to occur to stretch, compress, reverse etc. to become
Shape.In the case where identical external force, has and remained to greatly, in the case where big deformation quantity than common plane structural deformation amount
The advantages of keeping sensing function, Yi Shiying mounting surface geometrical property, is mountable to irregular three-dimensional shape surface.And
Under the premise of meeting strength condition, the island bridge structure in the present invention makes flexible sensing array apparatus quality lighter.
The present invention is compared with traditional integral planar array, and flexible more sensing units are relative to flexible base in integral planar array
The position at bottom is relatively fixed, and when being installed to irregular three-dimensional shape surface, it is excessively solid to be easy to produce flexible more sensing unit distributions
Surely the problem of changing.And the constraint that contains only four direction of the island bridge structural substrates in the present invention to flexible more sensing units, so
Its flexible more sensing unit is also more flexible relative to the position of flexible substrates, can be installed in flexible substrates irregular vertical
After shape, large range of position adjustment is carried out according to sensing demand to the position of each more sensing units of flexibility, to reach
The purpose being distributed to personalized location.
Compared to conventional flex pressure sensor, the present invention also have porous flexible structure safety, buffering, energy-absorbing it is excellent
Gesture, can effectively contact of the buffering objects (for example human body) with sensing device, can reduce and damage when occur situations such as collision.
Meanwhile in this sensor array, each more sensing units of flexibility and flexible substrates are separated from each other, removable handling
, therefore the more sensing units of flexibility on this flexible sensing array are replaceable, this kind of flexible sensing device can be effectively reduced
Using with replacement cost.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of bridge type flexible sensing array apparatus in island of the present invention；
Fig. 2 is the top view of bridge type flexible sensing array apparatus in island of the present invention；
Fig. 3 is that there is larger freedom degree to show for the plan-position of the sensing unit of bridge type flexible sensing array apparatus in island of the present invention
It is intended to；
Fig. 4 is island bridge type flexible sensing array apparatus island bridge CONSTRUCTED SPECIFICATION schematic diagram of the present invention；
In figure: flexible sensing layer (1), flexible substrates (2), flexible, porous pressure sensitive unit (101), mounting hole (201).
Specific embodiment
The following further describes the present invention with reference to the drawings.
As shown in Figure 1, present invention specific implementation includes flexible substrates 2, the more sensings of the flexibility being arranged in inside flexible substrates 2
Unit 101, flexible more sensing units 101, in array arrangement at equal intervals, form flexible, porous pressure sensing inside flexible substrates 2
Array 1.Specifically, dismountable flexible sensing layer 1 comprising equidistant array arrangement and the flexibility with hollow out buckling shape
The flexible sensing array that closely assembling is constituted of substrate 2；Flexible substrates 2 include that outline border shell and the hollow out being arranged in inside outline border shell are bent
Bent structure, hollow out buckling structure include island and buckling arm, and multiple island spaced arrays are uniformly arranged in inside outline border shell, per adjacent two
It is connected between the inward flange of between a island and island outline border shell adjacent thereto by buckling arm, buckling arm is S-shaped, the center on island
Offer the mounting hole 201 for assembling flexible sension unit 101；Essence can regard four buckling arms as and converge at intersections of complex curve
" island " in island bridge structure is constituted, there is the mounting hole 201 that can assemble flexible sension unit on island.
As shown in Figure 1, flexible sensing layer 1 is mainly made of 101 spaced array of the flexible sensing unit arrangement of porous structure,
101 geomery size of flexible sensing unit is slightly larger than the geomery of mounting hole 201, so that flexible sensing unit 101 passes through
The mode of interference fit is fitted into the mounting hole 201 of flexible substrates 2；The both ends of all flexible sensing units 101 pass through respectively
Two output ends are drawn after electric wire concatenation as electrical signal transmission channel to be connected with external analysis circuit: for wherein appointing
It is connected between for one end specifically, same side end of flexible sensing unit 101 on each adjacent two island by electric wire, and with
The adjacent same side end of all flexible sensing units 101 of the inward flange of outline border shell is connected to same output by electric wire extraction
End；The other end is same.
When in use, power supply signal transmission line is installed into the installation signal wire slit 202 on 2 surface of flexible substrates, electricity
Source signal transmission line is available but is not limited only to enameled wire.Power supply signal transmission line is connected with external analysis circuit.
Since the effect meeting of external force is so that geometric deformation occurs for flexible more sensing units 101, so as to cause flexibility mostly sensing
Conductive path number inside unit 101 changes, and then resistance value changes.Pass through the flexible more sensing units of monitoring
The size of 101 electrical parameter resistance values can be used for detecting external force size.
The cylindrical structure of flexible more sensing units 101, but it is not limited only to cylindrical-shaped structure.Flexible more sensing units 101
Can be fitted by way of interference fit 201 in the mounting hole of flexible substrates 2, make flexible more sensing units 101 with it is soft
Power supply signal transfer wire in property substrate 2 is in contact.Flexible more sensing units 101 are made to be fixed on flexible substrates using frictional force
Inside 2.The axis of flexible more sensing units 101 is parallel with the mounting hole 201 in flexible substrates；After the assembly is completed, flexible more biographies
Sense unit 101 is contacted with power supply signal transfer wire.
Single-chip microcontroller outside the connection of power supply signal transfer wire passes through the flexible more sensings of Ohm's law monitoring in analysis circuit
The resistance value of unit 101.Then external computer analytical equipment is sent the signal to, to carry out feedback and corresponding security strategy
Implementation.
After installation in non-pushed situation, flexible more sensing units 101 keep original shape；
By pressure, elastic deformation occurs for flexible more sensing units 101, and the power that is pressed is acted on presses to the direction of pressing force
Contracting, flexible more 101 internal conductive paths numbers of sensing unit change, and the resistance value caused between two electrodes changes.
Mounting hole 201 in the flexible substrates 2 of the flexible sensing array apparatus of stretchable deformation is by including but unlimited
It is process in the mode of laser cutting.
The flexible sensing unit 101 of specific implementation is by that will include but is not limited to that the melamine sponge of forming is impregnated
Enter and further taken out in the including but not limited to solution of the material containing sensitive conductive such as carbon nanotube, or carbon nanotube etc. is contained into sensitive conductive
The solution of material drips on melamine sponge；Then it dries, then is cleaned with hexane solution, then dry to be made again and obtain
?.
When using the present apparatus, the indefinite differentiation upper and lower surface of flexible substrates 2 selects any one surface, is bonded to be detected
Region, the island bridge type flexible sensing array apparatus based on porous structure can perceive the size of external force.
Flexible more sensing units 101 can be fitted into the mounting hole 201 of flexible substrates by way of interference fit,
Flexible more sensing units 101 are made to be in contact with the power supply signal transfer wire in flexible substrates 2.Flexibility is passed mostly using frictional force
It is inside flexible substrates 2 and detachable to feel the interference fit of unit 101 ground, so that only replacing sensing unit.Due to dress
Dismountable mode is selected with relationship, so in the case that the more sensing units 101 of partially flexible fail, it can be by disabling portion
Flexible more sensing units 101 remove, and retain the power supply signal transfer wire in original flexible substrates 2 and do not fail soft
Property more sensing units 101, the more sensing units 101 of flexibility more renewed.
In the case that the more sensing units 101 of partially flexible fail, the more sensing units 101 of flexibility of failure can be torn open
Under, and retain the power supply signal transfer wire in original flexible substrates 2 and the flexible more sensing units 101 that do not fail, it is losing
The new more sensing units 101 of flexibility are installed at more 101 positions of sensing unit of flexibility of effect part.
The more sensing unit arrangements of flexibility on the island bridge type flexible sensing array apparatus of specific implementation are to include but not
It is limited to 4 × 4 arrays, higher order array structure form is identical.The array structure of higher order has the more sensings of more more flexibilities single
Member 101, may be implemented the pressure sensing of higher precision.
The material that flexible substrates 2 are made is flexible material, and outline border shell, island and buckling arm are flexibility, flexible material packet
It includes but is not limited to melamine；The material of flexible more sensing units 101 includes but is not limited to melamine；Sensitive conductive material packet
It includes but is not limited only to carbon nanotube.
As shown in Fig. 2, can be bright by a kind of top view of island bridge type flexible sensing array apparatus based on porous structure
Aobvious finds out that flexible substrates 2 are in the island bridge structure of Openworks shape buckling shape, and flexible more 101 array distributions of sensing unit are in island bridge structure
In " island " on.
As shown in figure 3, bold portion is original undeformed island bridge type flexible sensing array apparatus, when external force is applied to
When in the bridge structure of island, buckling connection structure in the structure, i.e. " bridge " of island bridge structure can be stretched easily, be compressed,
The deformation such as torsion；Hollow out buckling shape connection structure crossing place in the structure, the i.e. position on " island " of island bridge structure can be
It is had a greater change in space.
As shown in figure 4, the island bridge structure in the present invention, curve connection structure in the structure, i.e. " bridge " of island bridge structure,
Such buckling shape is included but are not limited to, it includes the buckling shapes of various stretchable equal deformations；Hollow out in the structure is bent
The shape of curved shape crossing place, i.e. " island " of island bridge structure is also not limited to shape shown in figure.
Thus implement as it can be seen that the present invention have the advantages that island bridge structural deformation amount greatly, Yi Shiying mounting surface geometrical property,
And flexible substrates are less to the constraint of flexible more sensing units in the present invention so that the position of flexible more sensing units have compared with
Big variable momentum is mountable to irregular three-dimensional shape surface；Also there is porous flexible structure safety, buffering, energy-absorbing
Advantage；The more sensing units of flexibility in the present invention also have the characteristics of replaceable, personalization installation simultaneously.
Claims (8)
1. a kind of island bridge type flexible sensing array apparatus based on porous structure, it is characterised in that: include equidistant array arrangement
Dismountable flexible sensing layer (1) and flexible substrates (2) flexible sensing that closely assembling is constituted with hollow out buckling shape
Array；Flexible substrates (2) include outline border shell and the hollow out buckling structure that is arranged in inside outline border shell, and hollow out buckling structure includes island
With buckling arm, multiple island spaced arrays are uniformly arranged in inside outline border shell, and between each adjacent two island and island is adjacent thereto
It is connected between the inward flange of outline border shell by buckling arm, buckling arm is S-shaped, and the center on island offers single for assembling flexible perception
The mounting hole (201) of first (101)；Flexible sensing layer (1) is mainly arranged by flexible sensing unit (101) spaced array of porous structure
Cloth composition, flexible sensing unit (101) geomery size is slightly larger than the geomery of mounting hole (201), so that flexible sensing
Unit (101) is fitted into the mounting hole (201) of flexible substrates (2) by way of interference fit；All flexible sensing units
(101) two output ends are drawn after concatenating respectively by electric wire as electrical signal transmission channel and external analysis electricity in both ends
Road is connected: specifically, flexible sensing unit (101) same side end on each adjacent two island for either end
Between connected by electric wire, and all flexible sensing unit (101) the same side end adjacent with the inward flange of outline border shell passes through
Electric wire extraction is connected to same output end.
2. a kind of island bridge type flexible sensing array apparatus based on porous structure according to claim 1, it is characterised in that:
The flexible sensing unit (101) be by by include but is not limited to forming melamine sponge be soaked into including but not
It is limited to further take out in the solution of the materials containing sensitive conductive such as carbon nanotube, or by the solution of the materials containing sensitive conductive such as carbon nanotube
Drop is on melamine sponge；Then it dries, then is cleaned with hexane solution, then dry again and acquisition is made.
3. a kind of island bridge type flexible sensing array apparatus based on porous structure according to claim 1, it is characterised in that:
The outline border shell of the flexible substrates (2) is square but is not limited only to rectangular.
4. a kind of island bridge type flexible sensing array apparatus based on porous structure according to claim 1, it is characterised in that:
The flexible substrates (2) use porous material, including but not limited to melamine sponge.
5. a kind of island bridge type flexible sensing array apparatus based on porous structure according to claim 1, it is characterised in that:
Carrier of the flexible substrates (2) as flexible sensing layer (1), bottom surface fits to mounting surface.
6. a kind of island bridge type flexible sensing array apparatus based on porous structure according to claim 1, it is characterised in that:
The flexibility sensing layer (1) is to include but are not limited to 8 × 8 arrangement array composed by flexible more sensing units (101).
7. a kind of island bridge type flexible sensing array apparatus based on porous structure according to claim 1, it is characterised in that:
The mounting hole (201) of the flexible substrates (2) is in cylinder bore but is not limited only to cylinder bore.
8. a kind of island bridge type flexible sensing array apparatus based on porous structure according to claim 5, it is characterised in that:
The shape of the flexible sensing unit (101) is in cylindrical body but is not limited only to cylindrical body, the mounting hole with flexible substrates
(201) shape matches.
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Cited By (5)
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| CN111906755A (en) * | 2020-08-17 | 2020-11-10 | 河北工业大学 | Intelligent flexible driving device integrating distributed sensing and cooperative actuating units and application |
| CN112067174A (en) * | 2020-05-28 | 2020-12-11 | 北京机械设备研究所 | Flexible capacitive touch sensor array |
| CN112525226A (en) * | 2020-12-16 | 2021-03-19 | 江南大学 | Additive manufacturing equipment and method for sensing elastic foam and multi-channel coaxial extrusion of sensing elastic foam |
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| CN114590018A (en) * | 2022-03-10 | 2022-06-07 | 中南大学 | Ultrasonic blood pressure patch manufacturing method based on silk-screen printing |
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